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Rule-based motion coordination for the adaptive suspension vehicle / S.H. Kwak and R.B. McGhee.


Published May 1988
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Title from cover

"Prepared for: Ohio State University"--Cover

"May 1988"--Cover

"NPS52-88-011"--Cover

Author(s) subject terms: Robotics, walking machines, adaptive suspension vehicle, robot motion planning, rule-based systems

Includes bibliographical references (p. 26-28)

Technical report; 1988

This study investigates the utility of rule-based coordination of motion for rough-terrain locomotion by a hexapod walking machine. The logic for generating leg commands is written in Prolog while the simulation of the terrain and of the vehicle kinematics, as well as low lev3el on-board computer functions, are written in extended Common Lisp. It is found that this approach results in code that is much easier to understand and modify than previous motion coordination programs written in Pascal. The authors believe that both the methodology and the stepping logic presented in this report possess sufficient merit to justify full-scale physical testing in the Adaptive Suspension Vehicle operated under DARPA contract by Ohio State University

kmc/kmc 11/23/09


Publisher Monterey, California : Naval Postgraduate School
Pages 144
Language English
Call number ocm77630582
Digitizing sponsor Naval Postgraduate School, Dudley Knox Library
Book contributor Naval Postgraduate School, Dudley Knox Library
Collection navalpostgraduateschoollibrary; fedlink; americana

Full catalog record MARCXML

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